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<a href="_tracking_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor">#ifndef TRACKING_H</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#define TRACKING_H</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &lt;opencv2/core.hpp&gt;</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#include &lt;opencv2/features2d.hpp&gt;</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_viewer_8h.html">Viewer.h</a>&quot;</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_frame_drawer_8h.html">FrameDrawer.h</a>&quot;</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_map_8h.html">Map.h</a>&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_local_mapping_8h.html">LocalMapping.h</a>&quot;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_loop_closing_8h.html">LoopClosing.h</a>&quot;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a>&quot;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_key_frame_database_8h.html">KeyFrameDatabase.h</a>&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_o_r_bextractor_8h.html">ORBextractor.h</a>&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_initializer_8h.html">Initializer.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_map_drawer_8h.html">MapDrawer.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_system_8h.html">System.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_frame_8h.html">Frame.h</a>&quot;</span></div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;mutex&gt;</span></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;{</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">class </span>Viewer;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">class </span>FrameDrawer;</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="keyword">class </span>Map;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">class </span>LocalMapping;</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">class </span>LoopClosing;</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">class </span>System;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="keyword">class </span>Frame;</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">  114</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html">Tracking</a></div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;{  </div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a24f9d67b73420f419f792d2b32c69ac4">Tracking</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html">System</a>* pSys, <a class="code" href="class_d_bo_w2_1_1_templated_vocabulary.html">ORBVocabulary</a>* pVoc, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">FrameDrawer</a>* pFrameDrawer, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">MapDrawer</a>* pMapDrawer, <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* pMap,</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;             <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">KeyFrameDatabase</a>* pKFDB, <span class="keyword">const</span> <span class="keywordtype">string</span> &amp;strSettingPath, <span class="keyword">const</span> <span class="keywordtype">int</span> sensor, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cantidadCuadros = 0);</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="comment">// Preprocess the input and call Track(). Extract features and performs stereo matching.</span></div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="comment">//cv::Mat GrabImageStereo(const cv::Mat &amp;imRectLeft,const cv::Mat &amp;imRectRight, const double &amp;timestamp);</span></div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="comment">//cv::Mat GrabImageRGBD(const cv::Mat &amp;imRGB,const cv::Mat &amp;imD, const double &amp;timestamp);</span></div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ad3de28bf6f7638c4da2248c9d595f394">GrabImageMonocular</a>(<span class="keyword">const</span> cv::Mat &amp;im, <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;timestamp);</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a95061551f3756408221df3b1a996b777">SetLocalMapper</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html">LocalMapping</a>* pLocalMapper);</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a92b878e0559740646f8b1c635ac068dc">SetLoopClosing</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html">LoopClosing</a>* pLoopClosing);</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ac86c2461ac6cf3bec906759f4fbea15c">SetViewer</a>(<a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html">Viewer</a>* pViewer);</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; 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   <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#abb047099ca3376f7aabc9a90c74aecfc">InformOnlyTracking</a>(<span class="keyword">const</span> <span class="keywordtype">bool</span> &amp;flag);</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">// Tracking states</span></div><div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36">  150</a></span>&#160;    <span class="keyword">enum</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36">eTrackingState</a>{</div><div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36a95b60cb653a85df000eb93e0c3f00ea0">  151</a></span>&#160;        <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36a95b60cb653a85df000eb93e0c3f00ea0">SYSTEM_NOT_READY</a>=-1,</div><div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36a3a0bc2ff9eb062e5f00e8f0bac6f9783">  152</a></span>&#160;        <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36a3a0bc2ff9eb062e5f00e8f0bac6f9783">NO_IMAGES_YET</a>=0,</div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36a063250df8b0588a484883bc986defef7">  153</a></span>&#160;        <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36a063250df8b0588a484883bc986defef7">NOT_INITIALIZED</a>=1,</div><div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36af16e000dbb1927cf7f48e97b5e8e78dd">  154</a></span>&#160;        <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36af16e000dbb1927cf7f48e97b5e8e78dd">OK</a>=2,</div><div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36affaf8b66b0b767f1eb2b0214b3f37fb2">  155</a></span>&#160;        <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36affaf8b66b0b767f1eb2b0214b3f37fb2">LOST</a>=3</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    };</div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a37cadc53a335fd802fed2fd9b24e93e1">  159</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36">eTrackingState</a> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a37cadc53a335fd802fed2fd9b24e93e1">mState</a>;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a98be1e579a7e9271449d079c4f3c8769">  162</a></span>&#160; 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   list&lt;double&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ae867f703e70c18b7ff0798191807cb4d">mlFrameTimes</a>;</div><div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aca83e100e47cfcc0cba1bcfac72764cc">  214</a></span>&#160;    list&lt;bool&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aca83e100e47cfcc0cba1bcfac72764cc">mlbLost</a>;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    <span class="comment">// True if local mapping is deactivated and we are performing only localization</span></div><div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ae8c6db8ff320af10acacd5078a0801f6">  221</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ae8c6db8ff320af10acacd5078a0801f6">mbOnlyTracking</a>;</div><div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;</div><div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; 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   <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ab87e93e3430d5a50dbca87c49955a666">camaraModo</a>;</div><div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;</div><div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;</div><div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;</div><div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <span class="comment">// Main tracking function. It is independent of the input sensor.</span></div><div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#af1f2c9c533642d8c33854540e90d1918">Track</a>();</div><div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;</div><div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <span class="comment">// Map initialization for stereo and RGB-D</span></div><div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="comment">//void StereoInitialization();</span></div><div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;</div><div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="comment">// Map initialization for monocular</span></div><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a7e81c68bb6ced27fcbfa2edec38ef6e0">MonocularInitialization</a>();</div><div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#afeb077c81cd700d779348b80698086e8">CreateInitialMapMonocular</a>();</div><div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;</div><div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a2ca003d3234b2e8444f70dcd2132126f">CheckReplacedInLastFrame</a>();</div><div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a737c5409c93844353561a0fe724ed1c2">TrackReferenceKeyFrame</a>();</div><div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aa84a20277d5bd022b527d79a58830bc5">UpdateLastFrame</a>();</div><div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aca19f1d69b30a6c6e49281d422ac8298">TrackWithMotionModel</a>();</div><div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;</div><div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#acd4ea9e7097bed16428a4b78fe4b6a67">Relocalization</a>();</div><div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;</div><div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a22723e9972c18a888dd51a82eec27b0a">UpdateLocalMap</a>();</div><div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a25843575116bf18c065d6cc7645f5b26">UpdateLocalPoints</a>();</div><div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a42bed56bbbe8282eb77733e7168d8599">UpdateLocalKeyFrames</a>();</div><div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;</div><div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#af670c614f4e10d58c9f7aad9865b5c08">TrackLocalMap</a>();</div><div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a451c0e5372c24645c7634fcebc8fa847">SearchLocalPoints</a>();</div><div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;</div><div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#afc013c5a20bc6beb772b96a875b19216">NeedNewKeyFrame</a>();</div><div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a8c7fb6c4b1f952524512023df690bf4d">CreateNewKeyFrame</a>();</div><div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;</div><div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    <span class="comment">// In case of performing only localization, this flag is true when there are no matches to</span></div><div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="comment">// points in the map. 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   <span class="comment">// Initalization (only for monocular)</span></div><div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a9194420033fe0d556053685844a534be">  307</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_initializer.html">Initializer</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a9194420033fe0d556053685844a534be">mpInitializer</a>;</div><div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;</div><div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;    <span class="comment">//Local Map</span></div><div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ade9676c7c26eb653beddaa05b37ecc08">  310</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ade9676c7c26eb653beddaa05b37ecc08">mpReferenceKF</a>;</div><div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;</div><div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a46ade9f7ec2c89544ae77f2906000b3a">  313</a></span>&#160;    std::vector&lt;KeyFrame*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a46ade9f7ec2c89544ae77f2906000b3a">mvpLocalKeyFrames</a>;</div><div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;</div><div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a89074acc520094ba0d0fc7f4c0f8cf09">  316</a></span>&#160;    std::vector&lt;MapPoint*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a89074acc520094ba0d0fc7f4c0f8cf09">mvpLocalMapPoints</a>;</div><div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    </div><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="comment">// System</span></div><div class="line"><a name="l00322"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a1ab3d15e53005d5147620b0ee37c33ed">  322</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_system.html">System</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a1ab3d15e53005d5147620b0ee37c33ed">mpSystem</a>;</div><div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    </div><div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="comment">//Drawers</span></div><div class="line"><a name="l00325"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a4952ab24b73effdbba6266e2fb26548e">  325</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_viewer.html">Viewer</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a4952ab24b73effdbba6266e2fb26548e">mpViewer</a>;</div><div class="line"><a name="l00326"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#afc0759bfbd1d8d83e86c9d677a35429b">  326</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">FrameDrawer</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#afc0759bfbd1d8d83e86c9d677a35429b">mpFrameDrawer</a>;</div><div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3fb103211ff7b984910943f0975d5ceb">  327</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">MapDrawer</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3fb103211ff7b984910943f0975d5ceb">mpMapDrawer</a>;</div><div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;</div><div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;    <span class="comment">//Map</span></div><div class="line"><a name="l00331"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#acc0b5ae59012946da8238d84a331d72c">  331</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_map.html">Map</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#acc0b5ae59012946da8238d84a331d72c">mpMap</a>;</div><div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;</div><div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;    <span class="comment">//Calibration matrix</span></div><div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;</div><div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a6926ae3c49c09bf9f402d13900740405">  336</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a6926ae3c49c09bf9f402d13900740405">mK</a>;</div><div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;</div><div class="line"><a name="l00347"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a7df0851817d1a1345324c196b6a79c3a">  347</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a7df0851817d1a1345324c196b6a79c3a">mDistCoef</a>;</div><div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;</div><div class="line"><a name="l00353"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a8de5f87734670485f6b6097b14dd1fcb">  353</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a8de5f87734670485f6b6097b14dd1fcb">mbf</a>;</div><div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;</div><div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;    <span class="comment">//New KeyFrame rules (according to fps)</span></div><div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a53369ce9ebf152a1a76e93445821e395">  356</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a53369ce9ebf152a1a76e93445821e395">mMinFrames</a>;</div><div class="line"><a name="l00357"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a8a96fe16c7ed5c29d8714c1af036f1da">  357</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a8a96fe16c7ed5c29d8714c1af036f1da">mMaxFrames</a>;</div><div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;</div><div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;</div><div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;</div><div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="comment">//bool ReadCameraCalibration(cv::FileStorage fSettings);</span></div><div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ad443fff776a9a75b4ab9c55cd368abdf">_Track_full</a>();</div><div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a282ba88f5f306725ab6e60e533721ff1">_Track_loc_only</a>();</div><div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;</div><div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    <span class="comment">// Threshold close/far points</span></div><div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;    <span class="comment">// Points seen as close by the stereo/RGBD sensor are considered reliable</span></div><div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    <span class="comment">// and inserted from just one frame. Far points requiere a match in two keyframes.</span></div><div class="line"><a name="l00372"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aded3124bdf36aba88411327024a7c2d3">  372</a></span>&#160;    <span class="keywordtype">float</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aded3124bdf36aba88411327024a7c2d3">mThDepth</a>;</div><div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;</div><div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;    <span class="comment">// For RGB-D inputs only. For some datasets (e.g. TUM) the depthmap values are scaled.</span></div><div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;    <span class="comment">//float mDepthMapFactor;</span></div><div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;</div><div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;    <span class="comment">//Current matches in frame</span></div><div class="line"><a name="l00381"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ad58b66226a6345581227560aae2ea72f">  381</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ad58b66226a6345581227560aae2ea72f">mnMatchesInliers</a>;</div><div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;</div><div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="comment">//Last Frame, KeyFrame and Relocalisation Info</span></div><div class="line"><a name="l00384"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aa833de1f76843c64dbcc1631c12de7fd">  384</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">KeyFrame</a>* <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aa833de1f76843c64dbcc1631c12de7fd">mpLastKeyFrame</a>;</div><div class="line"><a name="l00385"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a4f0a80cfb3ddadcb43d7745d15ac9f35">  385</a></span>&#160;    <a class="code" href="class_o_r_b___s_l_a_m2_1_1_frame.html">Frame</a> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a4f0a80cfb3ddadcb43d7745d15ac9f35">mLastFrame</a>;</div><div class="line"><a name="l00386"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#abe5270bc94032722923f43efe7a7bac6">  386</a></span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#abe5270bc94032722923f43efe7a7bac6">mnLastKeyFrameId</a>;</div><div class="line"><a name="l00387"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#af95975f569dcc3e378c556b8199604b2">  387</a></span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#af95975f569dcc3e378c556b8199604b2">mnLastRelocFrameId</a>;</div><div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;</div><div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;    <span class="comment">//Motion Model</span></div><div class="line"><a name="l00395"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ac2283c13ccf08207c90a6a163d8dbe3c">  395</a></span>&#160;    cv::Mat <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ac2283c13ccf08207c90a6a163d8dbe3c">mVelocity</a>;</div><div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;</div><div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    <span class="comment">//Color order (true RGB, false BGR, ignored if grayscale)</span></div><div class="line"><a name="l00398"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a01522faf940cc80402f0750b0d90ecf2">  398</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a01522faf940cc80402f0750b0d90ecf2">mbRGB</a>;</div><div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;</div><div class="line"><a name="l00400"></a><span class="lineno"><a class="line" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aadc2690944688adbebeef4a60bdf3cad">  400</a></span>&#160;    list&lt;MapPoint*&gt; <a class="code" href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aadc2690944688adbebeef4a60bdf3cad">mlpTemporalPoints</a>;</div><div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;};</div><div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;</div><div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;} <span class="comment">//namespace ORB_SLAM</span></div><div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;<span class="preprocessor">#endif // TRACKING_H</span></div><div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a4952ab24b73effdbba6266e2fb26548e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a4952ab24b73effdbba6266e2fb26548e">ORB_SLAM2::Tracking::mpViewer</a></div><div class="ttdeci">Viewer * mpViewer</div><div class="ttdef"><b>Definition:</b> Tracking.h:325</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_abe5270bc94032722923f43efe7a7bac6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#abe5270bc94032722923f43efe7a7bac6">ORB_SLAM2::Tracking::mnLastKeyFrameId</a></div><div class="ttdeci">unsigned int mnLastKeyFrameId</div><div class="ttdef"><b>Definition:</b> Tracking.h:386</div></div>
<div class="ttc" id="_system_8h_html"><div class="ttname"><a href="_system_8h.html">System.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame.html">ORB_SLAM2::Frame</a></div><div class="ttdoc">Frame representa un cuadro, una imagen, con los puntos singulares detectados. </div><div class="ttdef"><b>Definition:</b> Frame.h:59</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_loop_closing_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_loop_closing.html">ORB_SLAM2::LoopClosing</a></div><div class="ttdoc">Cierre de bucles. </div><div class="ttdef"><b>Definition:</b> LoopClosing.h:60</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ad3de28bf6f7638c4da2248c9d595f394"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ad3de28bf6f7638c4da2248c9d595f394">ORB_SLAM2::Tracking::GrabImageMonocular</a></div><div class="ttdeci">cv::Mat GrabImageMonocular(const cv::Mat &amp;im, const double &amp;timestamp)</div><div class="ttdoc">Recibe una imagen para procesar, desde System, en el mismo hilo. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:222</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_aa84a20277d5bd022b527d79a58830bc5"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aa84a20277d5bd022b527d79a58830bc5">ORB_SLAM2::Tracking::UpdateLastFrame</a></div><div class="ttdeci">void UpdateLastFrame()</div><div class="ttdoc">Calcula la pose de mLastFrame respecto del keyframe de referencia, y la registra en mLastFrame con ...</div><div class="ttdef"><b>Definition:</b> Tracking.cc:805</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_aded3124bdf36aba88411327024a7c2d3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aded3124bdf36aba88411327024a7c2d3">ORB_SLAM2::Tracking::mThDepth</a></div><div class="ttdeci">float mThDepth</div><div class="ttdoc">Sólo para estéreo, el código actual no lo usa, sólo se pasa entre constructores a Frame y a KeyFrame...</div><div class="ttdef"><b>Definition:</b> Tracking.h:372</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_aadc2690944688adbebeef4a60bdf3cad"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aadc2690944688adbebeef4a60bdf3cad">ORB_SLAM2::Tracking::mlpTemporalPoints</a></div><div class="ttdeci">list&lt; MapPoint * &gt; mlpTemporalPoints</div><div class="ttdef"><b>Definition:</b> Tracking.h:400</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a8a96fe16c7ed5c29d8714c1af036f1da"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a8a96fe16c7ed5c29d8714c1af036f1da">ORB_SLAM2::Tracking::mMaxFrames</a></div><div class="ttdeci">int mMaxFrames</div><div class="ttdef"><b>Definition:</b> Tracking.h:357</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a7be9bebf51fda1413d253224cdacf7cd"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a7be9bebf51fda1413d253224cdacf7cd">ORB_SLAM2::Tracking::ChangeCalibration</a></div><div class="ttdeci">void ChangeCalibration(const string &amp;strSettingPath)</div><div class="ttdoc">Comando para cambiar la calibración. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:1525</div></div>
<div class="ttc" id="_initializer_8h_html"><div class="ttname"><a href="_initializer_8h.html">Initializer.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_abd41b4020d02e8ca272263964ae400b2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#abd41b4020d02e8ca272263964ae400b2">ORB_SLAM2::Tracking::mpORBextractorLeft</a></div><div class="ttdeci">ORBextractor * mpORBextractorLeft</div><div class="ttdoc">Extractores de cámara. </div><div class="ttdef"><b>Definition:</b> Tracking.h:294</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a9ee7c26c1db845fef73c55ee0bb5c9f2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a9ee7c26c1db845fef73c55ee0bb5c9f2">ORB_SLAM2::Tracking::mvbPrevMatched</a></div><div class="ttdeci">std::vector&lt; cv::Point2f &gt; mvbPrevMatched</div><div class="ttdoc">Vector con los matches anteriores, para inicialización. </div><div class="ttdef"><b>Definition:</b> Tracking.h:192</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ac2283c13ccf08207c90a6a163d8dbe3c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ac2283c13ccf08207c90a6a163d8dbe3c">ORB_SLAM2::Tracking::mVelocity</a></div><div class="ttdeci">cv::Mat mVelocity</div><div class="ttdoc">Rototraslación del modelo de movimiento. </div><div class="ttdef"><b>Definition:</b> Tracking.h:395</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a3995b5e23b910c6ee30b7fe21732fe36"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36">ORB_SLAM2::Tracking::eTrackingState</a></div><div class="ttdeci">eTrackingState</div><div class="ttdoc">Estado de tracking La variable de estado mState del objeto Tracking tiene uno de estos valores...</div><div class="ttdef"><b>Definition:</b> Tracking.h:150</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a3995b5e23b910c6ee30b7fe21732fe36a063250df8b0588a484883bc986defef7"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36a063250df8b0588a484883bc986defef7">ORB_SLAM2::Tracking::NOT_INITIALIZED</a></div><div class="ttdef"><b>Definition:</b> Tracking.h:153</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a1c89fa1b3512238f15283857ed94c79a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a1c89fa1b3512238f15283857ed94c79a">ORB_SLAM2::Tracking::mvIniMatches</a></div><div class="ttdeci">std::vector&lt; int &gt; mvIniMatches</div><div class="ttdoc">Vector con los matches de inicialización. </div><div class="ttdef"><b>Definition:</b> Tracking.h:189</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_initializer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_initializer.html">ORB_SLAM2::Initializer</a></div><div class="ttdoc">Inicializador de mapa en modo monocular. </div><div class="ttdef"><b>Definition:</b> Initializer.h:36</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_afc013c5a20bc6beb772b96a875b19216"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#afc013c5a20bc6beb772b96a875b19216">ORB_SLAM2::Tracking::NeedNewKeyFrame</a></div><div class="ttdeci">bool NeedNewKeyFrame()</div><div class="ttdoc">Informa si es momento de insertar un nuevo KeyFrame en el mapa. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:959</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a4f0a80cfb3ddadcb43d7745d15ac9f35"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a4f0a80cfb3ddadcb43d7745d15ac9f35">ORB_SLAM2::Tracking::mLastFrame</a></div><div class="ttdeci">Frame mLastFrame</div><div class="ttdef"><b>Definition:</b> Tracking.h:385</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ae867f703e70c18b7ff0798191807cb4d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ae867f703e70c18b7ff0798191807cb4d">ORB_SLAM2::Tracking::mlFrameTimes</a></div><div class="ttdeci">list&lt; double &gt; mlFrameTimes</div><div class="ttdef"><b>Definition:</b> Tracking.h:213</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_aca19f1d69b30a6c6e49281d422ac8298"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aca19f1d69b30a6c6e49281d422ac8298">ORB_SLAM2::Tracking::TrackWithMotionModel</a></div><div class="ttdeci">bool TrackWithMotionModel()</div><div class="ttdoc">SfM. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:826</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a24f9d67b73420f419f792d2b32c69ac4"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a24f9d67b73420f419f792d2b32c69ac4">ORB_SLAM2::Tracking::Tracking</a></div><div class="ttdeci">Tracking(System *pSys, ORBVocabulary *pVoc, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Map *pMap, KeyFrameDatabase *pKFDB, const string &amp;strSettingPath, const int sensor, unsigned int cantidadCuadros=0)</div><div class="ttdoc">Una única instancia de este objeto se ejecuta en el thread principal. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:49</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_frame_drawer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_frame_drawer.html">ORB_SLAM2::FrameDrawer</a></div><div class="ttdoc">Clase de instancia única que se ocupa de mostrar la imagen de la cámara, con marcas verdes sobre los ...</div><div class="ttdef"><b>Definition:</b> FrameDrawer.h:48</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a8d25e231894baf85a6a48ab57ce0ddb3"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a8d25e231894baf85a6a48ab57ce0ddb3">ORB_SLAM2::Tracking::mpIniORBextractor</a></div><div class="ttdeci">ORBextractor * mpIniORBextractor</div><div class="ttdef"><b>Definition:</b> Tracking.h:295</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a899967ca49b1c3446854ecce3873323c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a899967ca49b1c3446854ecce3873323c">ORB_SLAM2::Tracking::Reset</a></div><div class="ttdeci">void Reset()</div><div class="ttdoc">Reinicia el sistema. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:1472</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_o_r_bextractor.html">ORB_SLAM2::ORBextractor</a></div><div class="ttdoc">Empaqueta todos los métodos de detección de puntos singulares y extracción de descriptores. </div><div class="ttdef"><b>Definition:</b> ORBextractor.h:85</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_aca83e100e47cfcc0cba1bcfac72764cc"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aca83e100e47cfcc0cba1bcfac72764cc">ORB_SLAM2::Tracking::mlbLost</a></div><div class="ttdeci">list&lt; bool &gt; mlbLost</div><div class="ttdef"><b>Definition:</b> Tracking.h:214</div></div>
<div class="ttc" id="_map_8h_html"><div class="ttname"><a href="_map_8h.html">Map.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_acd4ea9e7097bed16428a4b78fe4b6a67"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#acd4ea9e7097bed16428a4b78fe4b6a67">ORB_SLAM2::Tracking::Relocalization</a></div><div class="ttdeci">bool Relocalization()</div><div class="ttdoc">Dispara una relocalización. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:1305</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a53369ce9ebf152a1a76e93445821e395"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a53369ce9ebf152a1a76e93445821e395">ORB_SLAM2::Tracking::mMinFrames</a></div><div class="ttdeci">int mMinFrames</div><div class="ttdef"><b>Definition:</b> Tracking.h:356</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a0ee7e13527e3bb18adb24bc511fd5800"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a0ee7e13527e3bb18adb24bc511fd5800">ORB_SLAM2::Tracking::mpKeyFrameDB</a></div><div class="ttdeci">KeyFrameDatabase * mpKeyFrameDB</div><div class="ttdef"><b>Definition:</b> Tracking.h:299</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a3fb103211ff7b984910943f0975d5ceb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3fb103211ff7b984910943f0975d5ceb">ORB_SLAM2::Tracking::mpMapDrawer</a></div><div class="ttdeci">MapDrawer * mpMapDrawer</div><div class="ttdef"><b>Definition:</b> Tracking.h:327</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_af95975f569dcc3e378c556b8199604b2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#af95975f569dcc3e378c556b8199604b2">ORB_SLAM2::Tracking::mnLastRelocFrameId</a></div><div class="ttdeci">unsigned int mnLastRelocFrameId</div><div class="ttdef"><b>Definition:</b> Tracking.h:387</div></div>
<div class="ttc" id="class_d_bo_w2_1_1_templated_vocabulary_html"><div class="ttname"><a href="class_d_bo_w2_1_1_templated_vocabulary.html">DBoW2::TemplatedVocabulary</a></div><div class="ttdoc">Generic Vocabulary. </div><div class="ttdef"><b>Definition:</b> TemplatedVocabulary.h:44</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a42bed56bbbe8282eb77733e7168d8599"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a42bed56bbbe8282eb77733e7168d8599">ORB_SLAM2::Tracking::UpdateLocalKeyFrames</a></div><div class="ttdeci">void UpdateLocalKeyFrames()</div><div class="ttdef"><b>Definition:</b> Tracking.cc:1192</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map.html">ORB_SLAM2::Map</a></div><div class="ttdoc">Mapa del mundo, de puntos y keyframes. </div><div class="ttdef"><b>Definition:</b> Map.h:52</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a3995b5e23b910c6ee30b7fe21732fe36affaf8b66b0b767f1eb2b0214b3f37fb2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36affaf8b66b0b767f1eb2b0214b3f37fb2">ORB_SLAM2::Tracking::LOST</a></div><div class="ttdef"><b>Definition:</b> Tracking.h:155</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_abb047099ca3376f7aabc9a90c74aecfc"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#abb047099ca3376f7aabc9a90c74aecfc">ORB_SLAM2::Tracking::InformOnlyTracking</a></div><div class="ttdeci">void InformOnlyTracking(const bool &amp;flag)</div><div class="ttdoc">Control de usuario para alternar entre tracking y mapping o solo tracking. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:1561</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ac86c2461ac6cf3bec906759f4fbea15c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ac86c2461ac6cf3bec906759f4fbea15c">ORB_SLAM2::Tracking::SetViewer</a></div><div class="ttdeci">void SetViewer(Viewer *pViewer)</div><div class="ttdoc">Registra el objeto de visualización. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:182</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame.html">ORB_SLAM2::KeyFrame</a></div><div class="ttdoc">Cuadro clave, keyframe. </div><div class="ttdef"><b>Definition:</b> KeyFrame.h:79</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_af1f2c9c533642d8c33854540e90d1918"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#af1f2c9c533642d8c33854540e90d1918">ORB_SLAM2::Tracking::Track</a></div><div class="ttdeci">void Track()</div><div class="ttdoc">Es la máquina de estados del tracking. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:286</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_viewer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_viewer.html">ORB_SLAM2::Viewer</a></div><div class="ttdoc">Viewer representa la interfaz de usuario. </div><div class="ttdef"><b>Definition:</b> Viewer.h:71</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a5e0bb2d9fe720c4f4dc9eef57ad1f168"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a5e0bb2d9fe720c4f4dc9eef57ad1f168">ORB_SLAM2::Tracking::mlRelativeFramePoses</a></div><div class="ttdeci">list&lt; cv::Mat &gt; mlRelativeFramePoses</div><div class="ttdoc">Listas para registrar la trayectoria de la cámara, para guardarla al terminar la aplicación. </div><div class="ttdef"><b>Definition:</b> Tracking.h:211</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a79358a4f15c71538e37e874a5646f43e"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a79358a4f15c71538e37e874a5646f43e">ORB_SLAM2::Tracking::mpORBVocabulary</a></div><div class="ttdeci">ORBVocabulary * mpORBVocabulary</div><div class="ttdef"><b>Definition:</b> Tracking.h:298</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a18bffeb950dd18e5d74807cd9741c013"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a18bffeb950dd18e5d74807cd9741c013">ORB_SLAM2::Tracking::mSensor</a></div><div class="ttdeci">int mSensor</div><div class="ttdoc">Tipo de sensor: monocular, estéreo o rgbd. </div><div class="ttdef"><b>Definition:</b> Tracking.h:166</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ad214f6515a2cf4996d0c7765d9de73a8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ad214f6515a2cf4996d0c7765d9de73a8">ORB_SLAM2::Tracking::mlpReferences</a></div><div class="ttdeci">list&lt; KeyFrame * &gt; mlpReferences</div><div class="ttdef"><b>Definition:</b> Tracking.h:212</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a01522faf940cc80402f0750b0d90ecf2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a01522faf940cc80402f0750b0d90ecf2">ORB_SLAM2::Tracking::mbRGB</a></div><div class="ttdeci">bool mbRGB</div><div class="ttdef"><b>Definition:</b> Tracking.h:398</div></div>
<div class="ttc" id="namespace_o_r_b___s_l_a_m2_html"><div class="ttname"><a href="namespace_o_r_b___s_l_a_m2.html">ORB_SLAM2</a></div><div class="ttdoc">This file is part of ORB-SLAM2. </div><div class="ttdef"><b>Definition:</b> Converter.h:31</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a3995b5e23b910c6ee30b7fe21732fe36a3a0bc2ff9eb062e5f00e8f0bac6f9783"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36a3a0bc2ff9eb062e5f00e8f0bac6f9783">ORB_SLAM2::Tracking::NO_IMAGES_YET</a></div><div class="ttdef"><b>Definition:</b> Tracking.h:152</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a3b4c19b9a377649cb89a4382320be28b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3b4c19b9a377649cb89a4382320be28b">ORB_SLAM2::Tracking::param</a></div><div class="ttdeci">int param</div><div class="ttdoc">Agregado: parámetro del trackbar de la ventana que muestra el cuadro actual. </div><div class="ttdef"><b>Definition:</b> Tracking.h:226</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_map_drawer_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_map_drawer.html">ORB_SLAM2::MapDrawer</a></div><div class="ttdoc">Esta clase contiene los métodos para dibujar en pangolin. </div><div class="ttdef"><b>Definition:</b> MapDrawer.h:41</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a6926ae3c49c09bf9f402d13900740405"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a6926ae3c49c09bf9f402d13900740405">ORB_SLAM2::Tracking::mK</a></div><div class="ttdeci">cv::Mat mK</div><div class="ttdoc">Matriz intrínseca, de cámara, de calibración K. </div><div class="ttdef"><b>Definition:</b> Tracking.h:336</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html">ORB_SLAM2::Tracking</a></div><div class="ttdoc">Objeto único que se ejecuta en su propio Trhead, y se inicia con Run(). </div><div class="ttdef"><b>Definition:</b> Tracking.h:114</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ad58b66226a6345581227560aae2ea72f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ad58b66226a6345581227560aae2ea72f">ORB_SLAM2::Tracking::mnMatchesInliers</a></div><div class="ttdeci">int mnMatchesInliers</div><div class="ttdoc">Sólo para RGB-D. </div><div class="ttdef"><b>Definition:</b> Tracking.h:381</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a89074acc520094ba0d0fc7f4c0f8cf09"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a89074acc520094ba0d0fc7f4c0f8cf09">ORB_SLAM2::Tracking::mvpLocalMapPoints</a></div><div class="ttdeci">std::vector&lt; MapPoint * &gt; mvpLocalMapPoints</div><div class="ttdoc">Mapa local, lista de puntos 3D. </div><div class="ttdef"><b>Definition:</b> Tracking.h:316</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ade9676c7c26eb653beddaa05b37ecc08"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ade9676c7c26eb653beddaa05b37ecc08">ORB_SLAM2::Tracking::mpReferenceKF</a></div><div class="ttdeci">KeyFrame * mpReferenceKF</div><div class="ttdef"><b>Definition:</b> Tracking.h:310</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a92b878e0559740646f8b1c635ac068dc"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a92b878e0559740646f8b1c635ac068dc">ORB_SLAM2::Tracking::SetLoopClosing</a></div><div class="ttdeci">void SetLoopClosing(LoopClosing *pLoopClosing)</div><div class="ttdoc">Registra el objeto de LoopClosing. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:177</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a1ab3d15e53005d5147620b0ee37c33ed"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a1ab3d15e53005d5147620b0ee37c33ed">ORB_SLAM2::Tracking::mpSystem</a></div><div class="ttdeci">System * mpSystem</div><div class="ttdoc">Sistema. </div><div class="ttdef"><b>Definition:</b> Tracking.h:322</div></div>
<div class="ttc" id="_frame_drawer_8h_html"><div class="ttname"><a href="_frame_drawer_8h.html">FrameDrawer.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a46ade9f7ec2c89544ae77f2906000b3a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a46ade9f7ec2c89544ae77f2906000b3a">ORB_SLAM2::Tracking::mvpLocalKeyFrames</a></div><div class="ttdeci">std::vector&lt; KeyFrame * &gt; mvpLocalKeyFrames</div><div class="ttdoc">Lista del keyframes locales, parte del mapa local. </div><div class="ttdef"><b>Definition:</b> Tracking.h:313</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_system_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_system.html">ORB_SLAM2::System</a></div><div class="ttdoc">System se instancia una única vez en main, en la variable SLAM. </div><div class="ttdef"><b>Definition:</b> System.h:96</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a22723e9972c18a888dd51a82eec27b0a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a22723e9972c18a888dd51a82eec27b0a">ORB_SLAM2::Tracking::UpdateLocalMap</a></div><div class="ttdeci">void UpdateLocalMap()</div><div class="ttdoc">Actualiza los puntos y keyframes en el mapa local. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:1144</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_afc0759bfbd1d8d83e86c9d677a35429b"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#afc0759bfbd1d8d83e86c9d677a35429b">ORB_SLAM2::Tracking::mpFrameDrawer</a></div><div class="ttdeci">FrameDrawer * mpFrameDrawer</div><div class="ttdef"><b>Definition:</b> Tracking.h:326</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a451c0e5372c24645c7634fcebc8fa847"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a451c0e5372c24645c7634fcebc8fa847">ORB_SLAM2::Tracking::SearchLocalPoints</a></div><div class="ttdeci">void SearchLocalPoints()</div><div class="ttdoc">Invocado por TrackLocalMap. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:1090</div></div>
<div class="ttc" id="_o_r_b_vocabulary_8h_html"><div class="ttname"><a href="_o_r_b_vocabulary_8h.html">ORBVocabulary.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_af7ef78c9eed81f0701a1d12b3f377875"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#af7ef78c9eed81f0701a1d12b3f377875">ORB_SLAM2::Tracking::mImGray</a></div><div class="ttdeci">cv::Mat mImGray</div><div class="ttdoc">Imagen del cuadro actual, recién convertida a grises. </div><div class="ttdef"><b>Definition:</b> Tracking.h:176</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a2ca003d3234b2e8444f70dcd2132126f"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a2ca003d3234b2e8444f70dcd2132126f">ORB_SLAM2::Tracking::CheckReplacedInLastFrame</a></div><div class="ttdeci">void CheckReplacedInLastFrame()</div><div class="ttdoc">Revisa y actualiza mLastFrame por las dudas que el mapa local haya cambiado. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:731</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a737c5409c93844353561a0fe724ed1c2"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a737c5409c93844353561a0fe724ed1c2">ORB_SLAM2::Tracking::TrackReferenceKeyFrame</a></div><div class="ttdeci">bool TrackReferenceKeyFrame()</div><div class="ttdoc">Una manera de hacer tracking, alternativa a TrackWithMotionModel. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:756</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a691ba65eb45f76829c8a2622f42ba446"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a691ba65eb45f76829c8a2622f42ba446">ORB_SLAM2::Tracking::mInitialFrame</a></div><div class="ttdeci">Frame mInitialFrame</div><div class="ttdoc">Primer cuadro para la inicialización. </div><div class="ttdef"><b>Definition:</b> Tracking.h:205</div></div>
<div class="ttc" id="_loop_closing_8h_html"><div class="ttname"><a href="_loop_closing_8h.html">LoopClosing.h</a></div></div>
<div class="ttc" id="_frame_8h_html"><div class="ttname"><a href="_frame_8h.html">Frame.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_afeb077c81cd700d779348b80698086e8"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#afeb077c81cd700d779348b80698086e8">ORB_SLAM2::Tracking::CreateInitialMapMonocular</a></div><div class="ttdeci">void CreateInitialMapMonocular()</div><div class="ttdoc">Crea el mapa inicial. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:622</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_local_mapping_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_local_mapping.html">ORB_SLAM2::LocalMapping</a></div><div class="ttdoc">LocalMapping tiene una única instancia ejecutando el método Run en su propio thread. </div><div class="ttdef"><b>Definition:</b> LocalMapping.h:68</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ad443fff776a9a75b4ab9c55cd368abdf"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ad443fff776a9a75b4ab9c55cd368abdf">ORB_SLAM2::Tracking::_Track_full</a></div><div class="ttdeci">bool _Track_full()</div></div>
<div class="ttc" id="_local_mapping_8h_html"><div class="ttname"><a href="_local_mapping_8h.html">LocalMapping.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ad21299ab1995c8fb7115bda57773d307"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ad21299ab1995c8fb7115bda57773d307">ORB_SLAM2::Tracking::mCurrentFrame</a></div><div class="ttdeci">Frame mCurrentFrame</div><div class="ttdoc">Cuadro actual. </div><div class="ttdef"><b>Definition:</b> Tracking.h:170</div></div>
<div class="ttc" id="_key_frame_database_8h_html"><div class="ttname"><a href="_key_frame_database_8h.html">KeyFrameDatabase.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_af670c614f4e10d58c9f7aad9865b5c08"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#af670c614f4e10d58c9f7aad9865b5c08">ORB_SLAM2::Tracking::TrackLocalMap</a></div><div class="ttdeci">bool TrackLocalMap()</div><div class="ttdoc">Actualiza el mapa y realiza el tracking. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:898</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a37cadc53a335fd802fed2fd9b24e93e1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a37cadc53a335fd802fed2fd9b24e93e1">ORB_SLAM2::Tracking::mState</a></div><div class="ttdeci">eTrackingState mState</div><div class="ttdoc">Estado del autómata finito del tracking. </div><div class="ttdef"><b>Definition:</b> Tracking.h:159</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a95061551f3756408221df3b1a996b777"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a95061551f3756408221df3b1a996b777">ORB_SLAM2::Tracking::SetLocalMapper</a></div><div class="ttdeci">void SetLocalMapper(LocalMapping *pLocalMapper)</div><div class="ttdoc">Registra el objeto de LocalMapping. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:172</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a98be1e579a7e9271449d079c4f3c8769"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a98be1e579a7e9271449d079c4f3c8769">ORB_SLAM2::Tracking::mLastProcessedState</a></div><div class="ttdeci">eTrackingState mLastProcessedState</div><div class="ttdoc">Estado anterior al actual. </div><div class="ttdef"><b>Definition:</b> Tracking.h:162</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a3995b5e23b910c6ee30b7fe21732fe36a95b60cb653a85df000eb93e0c3f00ea0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36a95b60cb653a85df000eb93e0c3f00ea0">ORB_SLAM2::Tracking::SYSTEM_NOT_READY</a></div><div class="ttdef"><b>Definition:</b> Tracking.h:151</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a9194420033fe0d556053685844a534be"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a9194420033fe0d556053685844a534be">ORB_SLAM2::Tracking::mpInitializer</a></div><div class="ttdeci">Initializer * mpInitializer</div><div class="ttdoc">Inicializador, responsable de la triangulación de los primeros puntos del mapa. </div><div class="ttdef"><b>Definition:</b> Tracking.h:307</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a25843575116bf18c065d6cc7645f5b26"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a25843575116bf18c065d6cc7645f5b26">ORB_SLAM2::Tracking::UpdateLocalPoints</a></div><div class="ttdeci">void UpdateLocalPoints()</div><div class="ttdoc">Rehace la lista de puntos del mapa local. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:1166</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a8de5f87734670485f6b6097b14dd1fcb"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a8de5f87734670485f6b6097b14dd1fcb">ORB_SLAM2::Tracking::mbf</a></div><div class="ttdeci">float mbf</div><div class="ttdoc">Leído del archivo de configuración, parte de los parámetros de calibración, pasado al constructor de ...</div><div class="ttdef"><b>Definition:</b> Tracking.h:353</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ab87e93e3430d5a50dbca87c49955a666"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ab87e93e3430d5a50dbca87c49955a666">ORB_SLAM2::Tracking::camaraModo</a></div><div class="ttdeci">int camaraModo</div><div class="ttdoc">Modo de cámara. </div><div class="ttdef"><b>Definition:</b> Tracking.h:237</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a7e81c68bb6ced27fcbfa2edec38ef6e0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a7e81c68bb6ced27fcbfa2edec38ef6e0">ORB_SLAM2::Tracking::MonocularInitialization</a></div><div class="ttdeci">void MonocularInitialization()</div><div class="ttdoc">Incovado por el autómata Track() para intentar inicializar. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:533</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a282ba88f5f306725ab6e60e533721ff1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a282ba88f5f306725ab6e60e533721ff1">ORB_SLAM2::Tracking::_Track_loc_only</a></div><div class="ttdeci">bool _Track_loc_only()</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_key_frame_database_html"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_key_frame_database.html">ORB_SLAM2::KeyFrameDatabase</a></div><div class="ttdoc">Lista invertida de KeyFrames, accesible por BoW. </div><div class="ttdef"><b>Definition:</b> KeyFrameDatabase.h:46</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a83692a6e9626c3c11b329d3b0a35c2f1"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a83692a6e9626c3c11b329d3b0a35c2f1">ORB_SLAM2::Tracking::mpLocalMapper</a></div><div class="ttdeci">LocalMapping * mpLocalMapper</div><div class="ttdoc">Público para que lo pueda ver Viewer al serializar mapas. </div><div class="ttdef"><b>Definition:</b> Tracking.h:229</div></div>
<div class="ttc" id="_viewer_8h_html"><div class="ttname"><a href="_viewer_8h.html">Viewer.h</a></div></div>
<div class="ttc" id="_map_drawer_8h_html"><div class="ttname"><a href="_map_drawer_8h.html">MapDrawer.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a44ad79261b565797bdf53d503f6defca"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a44ad79261b565797bdf53d503f6defca">ORB_SLAM2::Tracking::mbVO</a></div><div class="ttdeci">bool mbVO</div><div class="ttdoc">Flag de odometría visual. </div><div class="ttdef"><b>Definition:</b> Tracking.h:282</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_adced44c2c047c18f3db6c7bfd7b289f0"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#adced44c2c047c18f3db6c7bfd7b289f0">ORB_SLAM2::Tracking::mvIniP3D</a></div><div class="ttdeci">std::vector&lt; cv::Point3f &gt; mvIniP3D</div><div class="ttdoc">Vector con los puntos 3D iniciales. </div><div class="ttdef"><b>Definition:</b> Tracking.h:195</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a7df0851817d1a1345324c196b6a79c3a"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a7df0851817d1a1345324c196b6a79c3a">ORB_SLAM2::Tracking::mDistCoef</a></div><div class="ttdeci">cv::Mat mDistCoef</div><div class="ttdoc">Coeficientes de distorsión del modelo pihole estándar de OpenCV. </div><div class="ttdef"><b>Definition:</b> Tracking.h:347</div></div>
<div class="ttc" id="_o_r_bextractor_8h_html"><div class="ttname"><a href="_o_r_bextractor_8h.html">ORBextractor.h</a></div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_acc0b5ae59012946da8238d84a331d72c"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#acc0b5ae59012946da8238d84a331d72c">ORB_SLAM2::Tracking::mpMap</a></div><div class="ttdeci">Map * mpMap</div><div class="ttdoc">Mapa general. </div><div class="ttdef"><b>Definition:</b> Tracking.h:331</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_aed45d56071fcbba3db0552726c897e0d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aed45d56071fcbba3db0552726c897e0d">ORB_SLAM2::Tracking::mpLoopClosing</a></div><div class="ttdeci">LoopClosing * mpLoopClosing</div><div class="ttdef"><b>Definition:</b> Tracking.h:285</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ace08a986d9cbe3fe578c189242b94489"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ace08a986d9cbe3fe578c189242b94489">ORB_SLAM2::Tracking::mvIniLastMatches</a></div><div class="ttdeci">std::vector&lt; int &gt; mvIniLastMatches</div><div class="ttdoc">Agregado, imagen de entrada para visualización. </div><div class="ttdef"><b>Definition:</b> Tracking.h:186</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_ae8c6db8ff320af10acacd5078a0801f6"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#ae8c6db8ff320af10acacd5078a0801f6">ORB_SLAM2::Tracking::mbOnlyTracking</a></div><div class="ttdeci">bool mbOnlyTracking</div><div class="ttdoc">Flag indicador de modo Tracking (true) o tracking y mapping (false). </div><div class="ttdef"><b>Definition:</b> Tracking.h:221</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_aa833de1f76843c64dbcc1631c12de7fd"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#aa833de1f76843c64dbcc1631c12de7fd">ORB_SLAM2::Tracking::mpLastKeyFrame</a></div><div class="ttdeci">KeyFrame * mpLastKeyFrame</div><div class="ttdef"><b>Definition:</b> Tracking.h:384</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a3995b5e23b910c6ee30b7fe21732fe36af16e000dbb1927cf7f48e97b5e8e78dd"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a3995b5e23b910c6ee30b7fe21732fe36af16e000dbb1927cf7f48e97b5e8e78dd">ORB_SLAM2::Tracking::OK</a></div><div class="ttdef"><b>Definition:</b> Tracking.h:154</div></div>
<div class="ttc" id="class_o_r_b___s_l_a_m2_1_1_tracking_html_a8c7fb6c4b1f952524512023df690bf4d"><div class="ttname"><a href="class_o_r_b___s_l_a_m2_1_1_tracking.html#a8c7fb6c4b1f952524512023df690bf4d">ORB_SLAM2::Tracking::CreateNewKeyFrame</a></div><div class="ttdeci">void CreateNewKeyFrame()</div><div class="ttdoc">Crea un keyframe a partir del frame actual. </div><div class="ttdef"><b>Definition:</b> Tracking.cc:1065</div></div>
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